'Appendix B: Elements of linear system theory' (Control, Robotics & Sensors, 2018), 'Design of Embedded Robust Control Systems Using MATLAB® / Simulink®', Chap. appendixb, pp. 429-436, DOI: 10.1049/PBCE113E_appendixb
IET Digital Library, https://digital-library.theiet.org/;jsessionid=79qocujhsquto.x-iet-live-01content/books/10.1049/pbce113e_appendixb